Projection indicator, cargo assortment system, and projection indicating method

ABSTRACT

There is provided a projection indicator which specifies a position of a parcel based on an image including the parcel, the indicator including: a processor; and a memory, in which by cooperating with the memory, the processor determines whether or not each of pixels in the image is a pixel included in a processing target space in which the parcel is to be present based on coordinates of each of the pixels, regards only the pixel included in the processing target space as a processing point to be processed and registers the processing point in the memory, and obtains the image of the parcel based on the registered processing point to specify the position of the parcel.

TECHNICAL FIELD

The present disclosure is related to an instruction projecting device, aparcel sorting system, and an instruction projecting method useful tosort a parcel.

BACKGROUND ART

As recent economic activity rises, the amount of parcel circulationtends to increase. In a circulation process of parcels, sorting work forsorting the parcels by destination is a time-consuming process andrelies on manual work from before, but a technology of automating atleast a part of the sorting work is proposed.

PTL 1 discloses a system in which a moving parcel is tracked, an imageto be displayed is determined based on information related to the parcelread from the parcel and information of a position of the parcel, andthe image is projected from a projector to display the image on theparcel.

CITATION LIST Patent Literature

PTL 1; U.S. Pat. No. 7,090,134

SUMMARY OF THE INVENTION

However, in recent years, the amount of parcel circulation has beenincreased more and more and types of parcel have also become various, sothat a technology of effectively and precisely sorting the parcel isrequired.

The present disclosure is related to the technology of effectively andprecisely sorting the parcel.

According to the present disclosure, there is provided a projectioninstruction device which generates a projection image to be projected ona parcel based on sensing information of the parcel, the deviceincluding: a processor; and a memory, in which by cooperating with thememory, the processor calculates a position at which the projectionimage is projected based on first time information corresponding to atime of sensing the parcel.

According to the present disclosure, there is provided a projectioninstruction method of generating a projection image to be projected on aparcel based on sensing information of the parcel, the method including:by causing a processor to cooperate with a memory, calculating aposition at which the projection image is projected based on first timeinformation corresponding to a time of sensing the parcel.

According to the present disclosure, there is provided an instructionprojecting device which generates a projection image to be projected ona parcel based on sensing information of the parcel, the deviceincluding: a processor; and a memory, in which by cooperating with thememory, the processor determines whether or not the parcel is picked upbased on the sensing information, and in a case where it is determinedthat the parcel is picked up, the processor generates the projectionimage including detail information of the parcel.

According to the present disclosure, there is provided an instructionprojecting method of generating a projection image to be projected on aparcel based on sensing information of the parcel, the method including:by causing a processor to cooperate with a memory, determining whetheror not the parcel is picked up based on the sensing information; and ina case where it is determined that the parcel is picked up, generatingthe projection image including detail information of the parcel.

According to the present disclosure, there is provided a projectionindicator which specifies a position of a parcel based on an imageincluding the parcel, the indicator including: a processor; and amemory, in which by cooperating with the memory, the processordetermines whether or not each of pixels in the image is a pixelincluded in a processing target space in which the parcel is to bepresent based on coordinates of each of the pixels, regards only thepixel included in the processing target space as a processing point tobe processed and registers the processing point in the memory, andobtains the image of the parcel based on the registered processing pointto specify the position of the parcel.

According to the present disclosure, there is provided a projectioninstruction method of generating a position of a parcel based on animage including the parcel, the method including: by cooperating with amemory, a processor determines whether or not each of pixels in theimage is a pixel included in a processing target space in which theparcel is to be present based on coordinates of each of the pixels,regards only the pixel included in the processing target space as aprocessing point to be processed and registers the processing point inthe memory, and obtains the image of the parcel based on the registeredprocessing point to specify the position of the parcel.

According to the present disclosure, there is provided a projectioninstruction device which generates a projection image to be projected ona parcel based on sensing information of an image including the parcel,the device including: a processor; and a memory, in which by cooperatingwith the memory, the processor extracts a specific surface including theparcel from the sensing information of the parcel, and performs aprocess of generating the projection image based on only the specificsurface.

According to the present disclosure, there is provided a projectioninstruction method of generating a projection image to be projected on aparcel based on sensing information of an image including the parcel,the method including: by causing a processor to cooperate with a memory,extracting a specific surface including the parcel from the sensinginformation of the parcel; and performing a process of generating theprojection image based on only the specific surface.

According to the present disclosure, there is provided an instructionprojecting device which generates a projection image to be projected ona parcel based on sensing information of the parcel and parcelidentification information specifying the parcel in an image, the deviceincluding: a processor; and a memory, in which by cooperating with thememory, the processor determines a direction to pick up the parcel basedon the parcel identification information, and generates the projectionimage indicating the direction to pick up the parcel.

According to the present disclosure, there is provided an instructionprojecting method of generating a projection image to be projected on aparcel based on sensing information of the parcel and parcelidentification information specifying the parcel in an image, the methodincluding: by causing a processor to cooperate with a memory,determining a direction to pick up the parcel based on the parcelidentification information; and generating the projection imageindicating the direction to pick up the parcel.

According to the present disclosure, there is provided a projectioninstruction device which generates a projection image to be projected ona parcel based on an image including the parcel and parcelidentification information specifying the parcel in the image, thedevice including: a processor; and a memory, in which by cooperatingwith the memory, the processor determines a specific area in which theparcel is picked up based on the parcel identification information, andin a case where the parcel is present in the specific area, theprocessor projects the projection image.

According to the present disclosure, there is provided a projectioninstruction method of generating a projection image to be projected on aparcel based on an image including the parcel and parcel identificationinformation specifying the parcel in the image, the method including: bycausing a processor to cooperate with a memory, determining a specificarea in which the parcel is picked up based on the parcel identificationinformation; and in a case where the parcel is present in the specificarea, projecting the projection image.

In addition, according to the present disclosure, there is provided aparcel sorting system including: the projection instruction devicedescribed above; a label reader which reads parcel identificationinformation from a label attached to a parcel; an image sensor whichobtains an image; and an image output device which projects a projectionimage on the parcel.

According to the present disclosure, it is possible to more effectivelyand precisely sort the parcel and to further deal with an increase inthe amount of parcel circulation.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram illustrating a configuration of a parcelsorting system according to an embodiment.

FIG. 2 is a block diagram illustrating a configuration of an instructionprojecting device according to the embodiment.

FIG. 3A is a conceptual diagram illustrating a status in which theparcel sorting system is installed in a distribution center and is inoperation.

FIG. 3B is a diagram illustrating a state in which a projection imageincluding an arrow is projected on an upper surface of a parcel.

FIG. 4 is a flowchart illustrating an outline procedure of an operationmainly performed by the instruction projecting device.

FIG. 5 is a conceptual diagram illustrating a processing target space tobe processed by the instruction projecting device.

FIG. 6 is a flowchart illustrating a detailed procedure of step S20 ofFIG. 4.

FIG. 7 is a conceptual diagram illustrating a modification example ofthe processing target space.

FIG. 8 is a flowchart illustrating a detailed procedure in steps S70 andS100 in FIG. 4.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments (hereinafter, referred to as “presentembodiment”) which specifically disclose an instruction projectingdevice, a parcel sorting system, and an instruction projecting methodaccording to the present disclosure will be described in detail withreference to appropriate drawings. However, in some cases, unnecessarilydetailed explanation may be omitted. For example, in some cases,detailed explanation of already well-known items and repetitionexplanation of substantially the same configuration may be omitted. Thisis to avoid unnecessary repetition of the following description and tofacilitate understanding by those skilled in the art.

The accompanying drawings and the following description are provided toenable those skilled in the art to fully understand the presentdisclosure and are not intended to limit a scope of the claims.

Hereinafter, the embodiments of the disclosure will be described withreference to FIGS. 1 to 8.

[Configuration]

FIG. 1 is a block diagram illustrating a configuration of the parcelsorting system according to the embodiment. Parcel sorting system 100illustrated in FIG. 1 is installed in, for example, a distributioncenter. Parcel sorting system 100 includes label reader 10, distanceimage sensor 20, instruction projecting device 30, and projector 40.Parcel sorting system 100 is a system which supports work of a workerwho sorts a parcel transported by a transport conveyor. Parcel sortingsystem 100 is installed at the distribution center owned by, forexample, a retailer, a wholesaler, an internet distributor, or the like.A parcel to be sorted generally has an approximately rectangularparallelepiped shape, but the outward shape of the parcel is notparticularly limited, and a type of the parcel is also not particularlylimited. The configuration of the parcel sorting system is not limitedto the configuration illustrated in FIG. 1. For example, one labelreader 10 may be connected with a plurality of distance image sensors20, a plurality of instruction projecting devices 30, and a plurality ofprojectors 40. The number of each of components can be appropriatelymodified according to the purpose.

Label reader 10 as a reading device is a device which includes variouscomponents such as a lens (not illustrated), an image sensor, and thelike. By using label reader 10, it is possible to read label recordinginformation including various types of information related to the parcelfrom a label attached to the parcel transported by the transportconveyor. By using the read label recording information, it becomespossible to specify the parcel. By the read information, parcelidentification information is defined.

Distance image sensor 20 is an imaging device which includes variouscomponents such as a lens (not illustrated), an image sensor, and thelike. Distance image sensor 20 is generally configured by an imagingcamera. The imaging camera is a three-dimensional camera, a plurality oftwo-dimensional cameras, or the like. Distance image sensor 20 imagesthe parcel transported by the transport conveyor and generates adistance image to obtain information such as a position of the parcel, adistance to the parcel, a size of the parcel, and the like. “Distanceimage” means an image including distance information indicating adistance from an imaging position to a position (including surface ofparcel) indicated by each of pixels (that is, “image” in presentdisclosure includes distance image). In the present disclosure, distanceimage sensor 20 is used for specifying the position of the parcel.Therefore, distance image sensor 20 also can be replaced with anothersensing device (ultrasonic sensor, infrared sensor, stereo camera, andmonocular video camera). In the present disclosure, information outputby a sensing device including these distance image sensors is referredto as sensing information. In the present embodiment, an example of thesensing device will be described by using distance image sensor 20. Inaddition, in the present embodiment, an example of the sensinginformation will be described by using the distance image output bydistance image sensor 20.

Instruction projecting device 30 functions as a calculation device inparcel sorting system 100. As illustrated in FIG. 2, instructionprojecting device 30 includes input unit 32, processor 34, memory 36,and output unit 38 connected with one another via a bus. Input unit 32receives the parcel identification information for specifying the parcelobtained from the label recording information read by label reader 10and the distance image generated by distance image sensor 20. Processor34 is configured by a general calculation device and generates theprojection image to be projected on the parcel based on the parcelidentification information and the distance image. Memory 36 as astorage device reads a control program necessary for various processesby processor 34 and performs an operation such as data backup. That is,processor 34 and memory 36 control various processes by instructionprojecting device 30 by cooperating with each other. Output unit 38outputs the projection image generated by processor 34 to projector 40.In the present disclosure, “processor” does not mean only a singleprocessor. “Processor” means an operator in a case where a plurality ofidentical purpose processors or processors of different purpose (forexample, general-purpose central processing unit (CPU) and a graphicprocessing unit (GPU)) perform processes in collaboration with oneanother.

Projector 40 is configured by a general projection device, and projectsprojection light including the projection image received frominstruction projecting device 30, on the parcel and displays theprojection image onto the parcel.

Parcel sorting system 100 can be configured to include label reader 10,distance image sensor 20, instruction projecting device 30, andprojector 40 connected with one another in wired communication or inwireless communication. In addition, parcel sorting system 100 also canbe configured to include two or more devices of any of label reader 10,distance image sensor 20, instruction projecting device 30, andprojector 40 as an integral device. For example, distance image sensor20 and projector 40 can be combined to construct an integral imagingprojection device (see FIG. 3A).

[Outline of System]

FIG. 3A is a conceptual diagram illustrating a status in which parcelsorting system 100 is installed in the distribution center and is inoperation. In the related art, each of workers M visually checks thelabel attached to each of parcels P (denoted by P1 to P5 in FIG. 3A)transported by transport conveyor 50 in the arrow X-direction. When theparcel to be delivered by the worker himself arrives, worker M needs topick up the parcel and places the parcel temporarily in the vicinitysuch as the worker's own feet, a basket, a truck bed. However, in a caseof visually sorting by the worker, there is a limit in work efficiencyof the worker, so that it is necessary to limit a transport speed to apredetermined value or less. As a result, a limit value of the amount ofparcels which the worker can sort in a unit time decreases. In addition,due to an erroneous recognition when the worker visually checks thelabel, there is a possibility that an error may occur at the time ofsorting. In recent years, the amount of parcel circulation hasincreased, and these problems receive more attention.

In the present embodiment, as illustrated in FIG. 3A, label reader 10disposed above transport conveyor 50 reads the label attached to each ofparcels P transported by transport conveyor 50. In the label, the labelrecording information including various information related to theparcel is described. The label recording information includesinformation similar to, a parcel identification number individuallyassigned to the parcel, a name, an address, and a telephone number of asender, a name, an address, and a telephone number of a receiver, aparcel type, and the like. The label may be read by the worker in chargeby manually placing a barcode reader as label reader 10 to a barcode inthe label.

Further, distance image sensor 20 images the image (distance image) ofparcel P transported by transport conveyor 50 and obtains informationsuch as a position of parcel P, a distance to parcel P, a size (lengthsof three sides when parcel P is rectangular parallelepiped) of parcel P,and the like. Further, positions of label reader 10 and distance imagesensor 20, a type of the sensing device, and an order of processes arenot particularly limited to the illustrated embodiments. As describedabove, in the present example, distance image sensor 20 and projector 40are configured as an integrated imaging projection device 60 and aredisposed above transport conveyor 50.

Instruction projecting device 30 (not illustrated in FIG. 3A, FIG. 3B)is configured by a computer disposed in, for example, the vicinity oftransport conveyor 50 or another room and generates the projection imageto be displayed on parcel P (for example, upper surface when parcel P isrectangular parallelepiped) based on the information, obtained by labelreader 10, specifying the parcel and the distance image generated bydistance image sensor 20. Instruction projecting device 30 sends aprojection instruction to project the projection image on parcel P, toprojector 40.

Projector 40 which receives the projection instruction, as an imageoutput device, projects projection light including the projection imagegenerated by instruction projecting device 30 on parcel P and displaysthe projection image on parcel P. Here, the projection image displayedon parcel P is, for example, an image of an arrow indicating sortingdirections A, B, and C (right or left with respect to the transportdirection of transport conveyor 50) corresponding to delivery addressesof parcels P (See FIG. 3B). Certainly, according to a status, varioustypes of projection images are displayed . In the present disclosure,“image output device” is not limited to a device which directly projectsa light beam on the parcel. In the present disclosure, “image outputdevice” includes glasses which can display the image. That is, in thepresent disclosure, in a case of expressing as projecting projectionlight on the parcel, displaying the image on the parcel, projecting theimage on the parcel, or the like, the expression also includes allowingthe worker to recognize the image via the glasses capable of displayingthe image in a pseudo manner as if the projection light is projected onthe parcel. That is, in a case where the worker wears special glassescapable of displaying the image, the projection image of parcel P may besuperimposed on the image of parcel P viewed via the glasses.

Hereinafter, in parcel sorting system 100 according to the embodiment,an outline of an operation of sorting the parcel performed byinstruction projecting device 30 will be described.

[Outline of Operation]

FIG. 4 is a flowchart illustrating an outline procedure of an operationof mainly performed by instruction projecting device 30 of the presentembodiment, particularly processor 34 of instruction projecting device30. First, after label reader 10 reads the label recording informationof the label of the parcel, input unit 32 of instruction projectingdevice 30 obtains the parcel identification information corresponding tothe label recording information from label reader 10 (step S1). Theparcel identification information is information including at least onepiece of information similar to, the parcel identification numberindividually assigned to the parcel, the name, the address, and thetelephone number of the sender, the name, the address, and the telephonenumber of the receiver, the parcel type, and the like. For the parcelidentification information, processor 34 assigns an ID as a parcelidentification number specifying the parcel and records the ID and timeinformation corresponding to a time at which the ID is assigned, inmemory 36 (step S2). The ID recorded in memory 36 may be the parcelidentification number correctly recorded in the parcel identificationinformation or may be assigned by instruction projecting device 30generating a new ID.

On the other hand, in parallel with step S1 and step S2, after distanceimage sensor 20 images the distance image of the parcel, input unit 32of instruction projecting device 30 obtains the distance image as thesensing information from distance image sensor 20 (step S20). Processor34 determines whether or not the ID corresponding to the parcel existingin the distance image exists in memory 36.

An example of a method of determining whether or not the IDcorresponding to the parcel existing in the distance image exists inmemory 36 is as follows. That is, processor 34 calculates a timerequired for the parcel to move between label reader 10 and distanceimage sensor 20 based on a distance (assumed to be known) between labelreader 10 and distance image sensor 20 and a speed of transport conveyor50. By subtracting the time from a time when the distance image isobtained, a time when the ID is assigned to the parcel existing in thedistance image by label reader 10 (or processor 34) can be estimated. Itcan be estimated that the ID assigned close to the estimated time is theID corresponding to the parcel existing in the distance image. Inaddition, as another example, a method of installing another distanceimage sensor in the vicinity of label reader 10 may be possible. Thatis, by tracking the parcel, to which the ID is assigned, by usinganother distance image sensor installed in the vicinity of label reader10 since label reader 10 assigns the ID (or processor 34), a distancebetween the parcel (or the ID) and label reader 10 is measured per atime unit. Processor 34 can estimate the ID of the parcel in thedistance image obtained in a predetermined step S20 by the measureddistance between the parcel (or the ID) and label reader 10, a distanceof the parcel in the distance image obtained in step S20, and a distance(assumed to be known) between two distance image sensors.

In this way, processor 34 determines whether or not the ID correspondingto the parcel included in the distance image exists in memory 36 (stepS30). That is, as described in step S2, in memory 36, the parcelidentification information, the ID, and the time informationcorresponding to a time when the ID is assigned are recorded in advance.On the other hand, as described above, for example, processor 34subtracts the time required for the parcel to move between label reader10 and distance image sensor 20 from the time when the distance image isobtained, so that a time when the ID is assigned to the parcel existingin the distance image by label reader 10 (or processor 34) can beestimated. Processor 34 compares the time information recorded in memory36 in advance and the estimated time. In a case where the timeinformation is close to the estimated time (for example, case where timedifference is equal to or smaller than predetermined time), processor 34can determine that the ID corresponding to the parcel included in thedistance image exists in memory 36. In a case where it is determinedthat the ID corresponding to the parcel exists in memory 36 (Yes in stepS30), the process moves to step S60 and the subsequent steps.

In a case where it is determined that the ID corresponding to the parceldoes not exist in memory 36 (No in step S30), on the premise that the IDis not assigned to the parcel, processor 34 specifies the position ofthe parcel again (step S40) and assigns the ID to the parcel (step S50).The processes of steps S30 to S50 will be further described below indetail.

Further, processor 34 tracks the parcel, to which the ID is attached,transported and moved by transport conveyor 50 based on the distanceimage from distance image sensor 20 obtained by input unit 32 per apredetermined interval (step S60). Based on the same distance image,processor 34 determines whether or not the worker picks up the trackedparcel (step S70). In a case where it is determined that the parcel isnot picked up by the worker (No in step S70), processor 34 determineswhether or not the parcel exists in a specific area (specific area inwhich parcel is to be picked up) described below (step S80). In a casewhere it is determined that the parcel exists (reaches) in the specificarea (Yes in step S80), processor 34 generates the projection image andtransmits the projection image to projector 40 (step S90). In a casewhere it is not determined that the parcel exists (reaches) in thespecific area (No in step S80), the process returns to step S60 andprocessor 34 continues to track the parcel.

In addition, in step S70, in a case where it is determined that theparcel is picked up by the worker (Yes in step S70), processor 34 readsdetail information of the parcel from memory 36 (step S100), generatesthe projection image including the detail information, and outputs theprojection image generated by output unit 38, to projector 40 (stepS90). Projector 40 which obtains the projection image from instructionprojecting device 30, projects the projection image on the correspondingparcel.

The above is the outline of the operation procedure performed byprocessor 34 and the like of instruction projecting device 30, and adetailed procedure of each of the processes will be described below.

[Obtainment of Distance Image]

Processor 34 can track a movement of the parcel by processing data ofall of areas of the distance image obtained by distance image sensor 20.However, the data obtained by distance image sensor 20 also includesmuch data not related to the movement of the parcel. It takes much timeto process all of the areas of the captured distance image. In view ofthis, processor 34 does not necessarily need to process data of all ofthe distance images obtained by distance image sensor 20. In the presentembodiment, processor 34 processes only some of the areas among theareas of the distance image obtained by distance image sensor 20, sothat a processing load of processor 34 itself is reduced.

FIG. 5 is a conceptual diagram illustrating processing target space Swhich is an aggregation of coordinate points corresponding to pixels tobe processed by instruction projecting device 30 in the distance imageobtained by distance image sensor 20. An object to be sorted by parcelsorting system 100 is parcel P on transport conveyor 50. If parcel P canbe recognized, the original purpose can be achieved. In the presentembodiment, among the areas of the distance image obtained by distanceimage sensor 20, a processing target of processor 34 of instructionprojecting device 30 is limited to only processing target space S whichis a part of the area, so that the load of processor 34 is reduced. Thecoordinate point of the distance image obtained by distance image sensor20 is defined as (x, y, d) which is configured by coordinate positions xand y of a plane and d which is a depth. A value of the coordinate point(x_(i), y_(i), d_(i)) which defines processing target space S can becalculated based on measurement performed in advance and stored inmemory 36 or the like. Processor 34 can perform the processesillustrated in FIG. 6 with reference to the value of the coordinatepoint (x_(i), y_(i), d_(i)) recorded in memory 36.

In the present embodiment, processing target space S is defined by aspace partitioned by a range from transport conveyor 50 to predeterminedheight H and width W, inside a plane of transport conveyor 50. It isconceivable that parcel P on transport conveyor 50 can be captured inthe space. A range of height H is not particularly limited thereto, butas height H increases, the processing load of processor 34 increases. Ifheight H is too small, there is a possibility that it is difficult tocapture parcel P. Therefore, height H is set to approximately 50 cm, forexample, but height H is not particularly limited thereto. Width W isnot limited to a width itself of the actual transport conveyor, width Wmay be a value obtained by adding or subtracting a predetermined extrawidth, or may have a slight error.

FIG. 6 is a flowchart illustrating a detailed procedure of an operationperformed by processor 34 by cooperating with memory 36 when obtainingthe distance image in step S20 in FIG. 4. First, processor 34 obtainsdata of the distance image from distance image sensor 20 (step S21).Processor 34 determines whether or not an unprocessed point group, whichis a group of the coordinate points on which the process is not yetperformed, exists with reference to the value of the coordinate point(x_(i), y_(i), d_(i)) recorded in memory 36 (step S22). In a case wherethe unprocessed point group does not exist (No in step S22), the processmoves to step S30.

In a case where the unprocessed point group exists (Yes in step S22),processor 34 obtains one coordinate point from the unprocessed pointgroup (step S23). Processor 34 determines whether or not the obtainedcoordinate point is included in processing target space S (step S24). Ina case where the coordinate point is not included in processing targetspace S (No in step S24), after adding information indicating that thecoordinate point is processed to the coordinate point, the processreturns to step S22. Then, processor 34 again determines whether or notthe unprocessed point group exists in the distance image. In addition,in a case where the coordinate point obtained in step S23 is included inprocessing target space S (Yes in step S24), processor 34 records(registers) the coordinate point as a processing target coordinate pointincluded in processing target space S, in memory 36 (step S25).Information indicating that the coordinate point is processed, is addedto the coordinate point.

FIG. 7 is a conceptual diagram illustrating a modification example ofprocessing target space S. In the present example, processing targetspace S is further limited to he partitioned by a range of predeterminedlength L in the transport direction of transport conveyor 50.Accordingly, the number of the coordinate points to be processed byprocessor 34 can be reduced and the processing load of processor 34 canbe reduced. As time elapses, one distance image sensor 20 may change anarea corresponding to predetermined length L to be imaged and each ofthe plurality of distance image sensors 20 may image the areacorresponding to predetermined length L corresponding to each of theplurality of distance image sensors 20.

According to the present embodiment, processor 34 decreases theprocessing targets by limiting processing target space S to be processedand it is possible to effectively and precisely sort the parcel as aresult. Further, for example, in a case where the processes in FIGS. 5to 7, in particular, the determination process in step S24 is notperformed since processing capability of processor 34 is high, step S20becomes an operation of simply obtaining the distance image as thesensing information and in the subsequent processes, basically all ofthe coordinate points of the obtained distance image become theprocessing target. As a result, step S100 in FIG. 4 in which the parcelpicked up from transport conveyor 50 becomes target and steps S101 andS102 in FIG. 8 illustrated below can be executed. Surely, this fact doesnot deny the ideas in FIGS. 5 to 7, and according to FIGS. 5 to 7, it ispossible to reduce the processing load of processor 34, which is anoperational effect independent of the operational effect of steps S100to S102. From an opposite point of view, by applying the embodiment inFIGS. 5 to 7, the operations in steps S100 to S102 are not performed inprinciple, but this does not mean that the ideas in steps S100 to S102are denied.

[Assignment of ID]

When input unit 32 of instruction projecting device 30 obtains theparcel identification information corresponding to the label recordinginformation from label reader 10 (step S1), generally, the IDcorresponding to the parcel identification information (parcelidentification number) is assigned and recorded in memory 36 (step S2).However, in a case where label reader 10 fails to read the label or eachof the labels to be read is not attached to the parcel, the IDcorresponding to the distance image of the parcel does not exist inmemory 36 even if the distance image of the parcel is obtained in stepS20 (No in step S30). In this case, on the premise that the ID is notassigned to the parcel, processor 34 obtains the distance image of theparcel from distance image sensor 20 and specifies the position of theparcel again (step S40), and assigns the ID to the parcel and recordsthe ID in memory 36 (step S50). After then, processor 34 tracks theparcel, to which the ID is attached, transported and moved by transportconveyor 50 based on the distance image from distance image sensor 20obtained by input unit 32 per the predetermined interval (step S60).

[Extraction of Projected Surface]

When processor 34 tracks the parcel after the ID is assigned to theparcel (step S60), processor 34 can track the movement of the parcelbased on the distance image of the whole image of the parcel obtained bydistance image sensor 20. However, since the amount of data of thedistance image of the whole image is large, there is a possibility thattracking of the parcel has a high processing amount and may be difficultbased on the distance image of the whole image. In addition, there is noneed to limit the distance image of the whole image to be required fortracking the parcel, and in step S90 in FIG. 4, it is conceivable thatit is sufficient if a projected surface on which the projection image isto be projected, can be tracked. In the present embodiment, in step S60,processor 34 extracts the projected surface which is a specific surfaceon which the projection image is to be projected, from the distanceimage of the whole image of the parcel obtained by cooperating withmemory 36 and tracks the parcel based on only the extracted projectedsurface. In this way, if the parcel is tracked based on only theprojected surface (specific surface) extracted from the parcel, it ispossible to track the parcel with smaller processing amount thanprocessing amount in a case of tracking the parcel based on all of theprojected surfaces. In the present disclosure, by performing a process(including generation of projection image itself) required forgenerating the projection image other than tracking of the parcel, basedon only the specific surface, a load of processor 34 is reduced.

A typical example of the projected surface is an upper surface (topsurface) of the parcel of an approximately rectangular parallelepiped.Processor 34 can extract the upper surface based on a point group ofcoordinates having a constant height among the distance images. Inaddition, processor 34 can extract the upper surface based on a pointgroup of coordinates constituting a surface parallel with transportconveyor 50 among the distance images.

The projected surface may be, for example, one side of the parcel havinga rectangular parallelepiped shape. Processor 34 can extract the sidesurface based on a point group of coordinates constituting a surfaceperpendicular to transport conveyor 50 among the distance images. In themethod described above, since an upper end of the side surface isdefined by extracting the upper surface in advance, it is preferable toextract the upper surface in advance to extract the side surface.

A direction of the projected surface can be defined in accordance with aspeed vector obtained by a movement track of the parcel.

In addition, the upper surface or the side surface of the parcel in anapproximately rectangular parallelepiped shape can be extracted byobtaining a circumscribed rectangular parallelepiped of the parcel.“Circumscribed rectangular parallelepiped” is a rectangularparallelepiped having sides parallel to an inertial main axis directionand is the smallest rectangular parallelepiped into which the parcelenters, that is, a rectangular parallelepiped in which each of sixsurfaces of the rectangular parallelepiped is contacted with the surfaceof the parcel at least one point. Processor 34 develops coordinates ofthe distance image of the parcel in a three-dimensional matching space,generates the circumscribed rectangular parallelepiped of the finalimage of the coordinates of the parcel developed, and calculates thedimensions of three sides of the circumscribed rectangularparallelepiped. As a result, it is possible to obtain the upper surfaceand the side surface of the parcel.

The projected surface is selected in a predetermined manner. In the caseof the parcel having a shape other than a rectangular parallelepiped,various selectable surfaces are conceivable. In addition, it is alsopossible to select the projected surface in consideration of convenienceof the worker. For example, in a case where there is a parcel at aposition far from the worker, processor 34 can select a front surface(side surface closest to worker in case of rectangular parallelepipedparcel) viewed from the worker as the projected surface. In addition, ina case where there is a parcel at a position close to the worker,processor 34 can select the upper surface as the projected surface.According to this process, after step S90, projector 40 can project theprojection image on a surface to be most easily recognized by theworker. In addition, a position of the worker around the parcel is alsorecognized at the same time and the projected surface may be switchedbased on the information.

Further, by narrowing down the projected surface to only one surface,the processing load of processor 34 can be reduced and it is possible togenerate the projection image suitable for the selected surface later.

According to the present embodiment, by extracting the projected surfaceon which the projection image is to be projected, processor 34 does notneed to perform the process, on the distance image displaying the wholeparcel and the processing load is reduced. However, unless there is aproblem in the processing load, not only one surface but also aplurality of surfaces may be selected as the projected surface andprojector 40 may project the projection image on a plurality ofprojected surfaces in step S90. Therefore, the specific surface on whichthe projection image is to be projected includes not only one surfacebut also the plurality of surfaces.

However, even if the projected surface is not extracted as in thepresent embodiment, as long as processor 34 operates, the processesafter step S70 is possible. Therefore, the processes described below arenot necessarily based on the premise of extracting of the projectedsurface.

[Determination of Projection Position]

Further, processor 34 tracks the parcel. In a case, basically, where theparcel is not picked up (No in step S70) and the parcel exists in thespecific area described below (Yes in step S80), processor 34 generatesthe projection image corresponding to the parcel and transmits theprojection image to projector 40 (step S90). Processor 34 can determinea position at which the projection image is projected, with a positionat which the distance image is lastly obtained.

However, since it takes some time to generate and obtain the distanceimage and the parcel is moved by transport conveyor 50 per the time, ina case where the projection image is projected on the position at whichthe distance image is lastly obtained, in fact, there is also apossibility that the parcel has already moved from that position. As themoving speed of the parcel is particularly fast, a difference betweenthe actual position of the parcel and the position at which the distanceimage is lastly obtained becomes large, so that there is a highpossibility that the projection position at which the projection imageis to be projected deviates from an original position.

In the present embodiment, processor 34 predicts a predicted projectionposition which is a position at which the projection image is projectedin accordance with the moving speed at which the parcel moves and thealready obtained position of the parcel and projects the projectionimage at the predicted projection position to appropriately project theprojection image on the parcel.

In step S20 in FIG. 4, processor 34 assigns time stamp TS1 which isfirst time information corresponding to a time at which distance imagesensor 20 obtains the distance image, to the distance image and recordstime stamp TS1 in memory 36. Further, when generating the projectionimage (step S90), processor 34 obtains time stamp TS2 which is secondtime information corresponding to the time when generating theprojection image and calculates a difference between TS1 when obtainingthe distance image and TS2 when generating the projection image, thatis, a difference between the first time information and the second timeinformation (TS2-TS1). Processor 34 can obtain the projection positionof the parcel on which the projection image is to be correctlyprojected, based on the difference by cooperating with memory 36. In thepresent disclosure, “corresponding to time” is not limited to onlyrepresenting one point in time. “Corresponding to time” includes a caseof representing a time deviated from a time of occurrence of a certainevent by a predetermined period of time.

Specifically, in a case where the moving speed of the parcel (transportspeed by transport conveyor 50) is v, moving distance D that the parcelmoves can be calculated by D=(TS2−TS1)×v. Moving distance D may becalculated as a directional distance (example: 2 cm in east direction)and also may be calculated as a particularly undetermined distance in acase where the moving direction of the parcel is substantially the sameas the transport direction of transport conveyor 50 (moving speed v maybe determined to be directional speed so as to calculate moving distanceD as directional distance). Predicted projection position P2 of theparcel on which the projection image is projected can be obtained byadding moving distance D to position P1 of the distance image.

In order to make it possible to calculate moving distance D describedabove, it is necessary to determine a value of moving speed v byestimation or actual measurement. In order to determine the value ofmoving speed v, the following method can be adopted.

1) When tracking the parcel (S60), moving speed v is calculated by themoving distance and the direction per hour.2) Seeing that the parcel moves at a predetermined speed and direction,the speed is set to moving speed v.3) The transport speed and the direction of the conveyor is monitored byan output of the motor and the like and the speed is set to moving speedv (it is assumed that speed of parcel is equal to speed of conveyor).

By calculating moving distance D as described above, processor 34calculates predicted projection position (P1+D) which is a position atwhich the projection image is projected. According to the presentembodiment, projector 40 can more precisely project the projection imageon the parcel along the movement of the parcel and the projection of theimage is seen to be smooth even if eyes of the human see the image.

Moving distance D may be calculated by D=(TS2+Δt−TS1)×v. Here, At can bea transmission time of the projection image from instruction projectingdevice 30 to projector 40. Alternately, At may be a delay time due tothe process inside the projector. Further, At can be a time obtained byadding the delay time by the process inside the projector, totransmission time of the projection image from instruction projectingdevice 30 to projector 40. By determining At in this way, it is possibleto calculate the predicted projection position more precisely.

[Projection on Specific Area]

In the present embodiment, further, in step S80 in FIG. 4, it isdetermined whether or not to project the projection image according tothe position of the tracked parcel or it is determined whether or not tochange the projection image. According to this process, on transportconveyor 50, in a case of moving the parcel to the specific area(specific section) in which the parcel becomes a sorting target,projector 40 projects the projection image on the parcel or changes theprojection image as compared with a case where the parcel exits outsidethe specific area.

The parcel identification information read by label reader 10 includesat least one piece of information similar to, the parcel identificationnumber individually assigned to the parcel, the name, the address, andthe telephone number of the sender, the name, the address, and thetelephone number of the receiver, the parcel type, and the like. Theinformation is recorded in memory 36 in association with the ID of theparcel as described in step S2 or step S50.

The specific area in which the parcel is to be picked up, corresponds toan area in which the worker picks up the parcel from transport conveyor50. In the present embodiment, as illustrated in FIG. 3A, the area ontransport conveyor 50 is partitioned into five specific areas of area A,area B, area C, area D, area E, which are areas defined by specificlengths of transport conveyor 50 in the transport direction X.

The following methods can be adopted so as to determine whether or notthe specific parcel is the sorting target in which specific area ontransport conveyor 50 based on the parcel identification informationrecorded and the specific area partitioned as described above.

First, there is a method of recording the parcel identificationinformation in association with each of the specific areas in advance,in memory 36. For example, it is conceivable to record that “if parcelis parcel to AA zone, parcel becomes sorting target in area A”, inmemory 36.

Second, there is a method of (1) specifying the worker who exists in thespecific area and (2) recording the parcel identification information inassociation with each of the workers in advance, in memory 36. In orderto specify the worker, an input device may be provided in each of thespecific areas and a worker ID may be registered (or registered byobtaining the worker ID from a wireless device possessed by the worker)to the worker. As another method, the worker ID may be specified fromthe distance image or an image including the specific area and theworker separately obtained using an image recognition technology. Inaddition, as another method, a specific worker may be specified as thespecific worker exists in the specific area at a predetermined time. Inorder to associate the parcel identification information with each ofthe workers in advance, for example, it may be conceivable to recordthat “worker A sorts parcel to AA zone”, in memory 36. By integratingthe data using the above information, processor 34 can determine that“if parcel is parcel to AA zone, parcel becomes sorting target in areaA”.

Third, there is a method of (1) specifying a transport truck close toeach of the specific areas and (2) recording the parcel identificationinformation in association with each of the transport trucks in advance,in memory 36. In order to specify the transport truck close to each ofthe specific areas, the transport truck may be specified by specifying alicense plate and a marker attached to the truck using the imagerecognition technology, from the distance image or an image includingthe specific area and the transport truck separately obtained or may bespecified by specifying a predetermined transport truck which exists ina predetermined area at a predetermined time. In order to associate theparcel identification information with each of the transport trucks inadvance, for example, it may be conceivable to record that “transporttruck A sorts parcel to AA zone”, in memory 36. By integrating the datausing the above information, processor 34 can determine that “if parcelis parcel to AA zone, parcel becomes sorting target in area A”.

As described above, processor 34 can determine whether or not thespecific parcel is the sorting target in which specific area ontransport conveyor 50 based on the parcel identification information.

In step S80 of FIG. 4, processor 34 determines whether or not thespecific parcel exists in the specific area in which the parcel is to bepicked up, based on the parcel identification information. In a casewhere it is determined that the parcel exists (reaches) in the specificarea (Yes in step S80), processor 34 generates the projection image andtransmits the projection image to projector 40. In a case where it isnot determined that the parcel exists (reaches) in the specific area (Noin step S80), the process returns to step S60 and processor 34 continuesto track the parcel.

In a case where the parcel moves inside the specific area (specificsection) in which the parcel is to be sorted, a case where theprojection image is projected on the parcel, will be described by usingFIG. 3A, FIG. 3B. As illustrated in FIG. 3A, there are five parcels P1to P5 which are the projection targets of the projection image, ontransport conveyor 50. In the present embodiment, only after each of theparcels reaches the specific area in which the parcel is to be pickedup, projector 40 (imaging projection device 60) projects the projectionimage on the parcel.

In FIG. 3A, the worker in charge of picking up the parcel stands besidetransport conveyor 50 in each of the areas and the parcel arriving eachof the areas is picked up from transport conveyor 50 as indicated byarrows A, B, C, D, and E. In FIG. 3A, the person in charge of area A,area C, and area D stands on a right side of transport conveyor 50 withreference to the transport direction X and the person in charge of areaB and area E stands on a left side of transport conveyor 50, forconvenience, the person in charge other than person M in charge of areaE is not illustrated.

For example, parcel P1 has the parcel identification information of“AAA111” on the label. Based on the method described above, the parcelidentification information of “AAA111” specifies that the parcel is thesorting target in area A. Here, when parcel P1 reaches (specific) areaA, processor 34 transmits the generated projection image to projector40. Projector 40 projects the projection image on parcel P1. The workerin area A can easily pay attention to parcel P1, to be picked up by theworker, which reaches the specific area of the worker, accordingly, theparcel can be sorted more efficiently and precisely.

In the present embodiment, as illustrated in FIG. 3A, whether or not oneprojector 40 projects the image on a plurality of specific areas may beswitched and whether or not a plurality of projectors 40 project theimage on each of the specific areas may be switched.

According to the example illustrated in FIG. 3A, FIG. 3B, by projectingonly in a case where the parcel moves inside the specific area in whichthe parcel is to be sorted, it becomes easy for the worker to specifythe parcel to pick up. On the other hand, in a case of projectingirrespective of conditions on all of the parcels, it is necessary toprepare the projection images of various patterns so that the worker caneasily distinguish the parcel. However, it is also conceivable that ahigh degree of design capability is required for the projection imagefor distinguishing the parcel according to the number of the workers orthe delivery addresses. However, according to the present embodiment, bylimiting the parcel to be projected, it is possible to minimize thenumber of the patterns of the projection image.

The method of the present disclosure is not limited to performingprojection only when the parcel exists in the specific area. Also in acase where the parcels exist both inside and outside the specific area,the projection is performed on the parcel, but when the parcel existsinside the specific area, the present disclosure may be applied so as tochange the projection image as compared with a case where the parcelexists outside the specific area.

As the present embodiment, the process in step S90 is possible as longas processor 34 operates without determining whether or not the parcelexists in the specific area. That is, the projection image may always begenerated and projected. Therefore, the processes described below arenot necessarily based on the premise of the present process(determination of existence within specific area of parcel).

[Generation of Projection Image Including Arrow]

When generating the projection image in step 90 in FIG. 4, consideringworkability of the worker who picks up the parcel, processor 34 cangenerate the projection image including an arrow as an image indicatinga direction in which the worker exists, that is, a direction to pick upthe parcel.

In the present embodiment, corresponding to each of the specific areas,the direction to pick up the parcel in each of the specific areas isrecorded in memory 32. That is, the direction is recorded in memory 32so that in a case of area A, the direction to pick up the parcel isright to the direction X and in a case of area B, the direction to pickup the parcel is left to the direction X.

As described above, according to the method of determining whether ornot the specific parcel is to be the sorting target in which specificarea on transport conveyor 50, since it is possible to determine whetheror not the specific parcel is to be the sorting target in which specificarea, it is possible to determine that the specific parcel is picked upin which direction on the transport conveyor. That is, processor 34 candetermine the direction to pick up the parcel from the parcelidentification information. Therefore, processor 34 can define an arrowimage to be projected based on the determination. In the presentembodiment, although the example of the projection image indicating thedirection to pick up the parcel is described by using the arrow, theimage indicating the direction to pick up the parcel is not limitedthereto. For example, as the example of the projection image indicatingthe direction to pick up the parcel, an image constituting a picturescrolled toward a predetermined direction can be used and an imageconfigured by a predetermined direction with a color different fromcolors of the other directions can be used.

There is an example of the specific method of generating the projectionimage. For example, template images of arrows in two directions (rightside and left side of transport conveyor) are recorded in memory 36 inadvance, and processor 34 selects any one of the template images fromthe transport direction and the parcel identification information of theparcel and generates the projection image including the arrow. Inaddition, for example, an image of a rotatable arrow in free directionmay be recorded in memory 36 in advance, and processor 34 may rotate theimage of the rotatable arrow in an appropriate direction and generatethe projection image including the arrow from the transport directionand the parcel identification information. As a result, as illustratedin FIG. 3B, it is possible to project the projection image including theimage of arrow A and the image of arrow B on the upper surfaces ofparcels P1 and P2.

Further, based on size of the projected surface extracted in step S50,processor 34 may change the size or the shape of the image indicatingthe direction to pick up the parcel. In this way, it is possible toprevent the direction indicating the image indicating the direction topick up the parcel from not being displayed on the projected surface andit is possible to prevent the arrow from being projected small on theprojected surface more than needs.

According to the present embodiment, it is possible to generate theprojection image for the worker easily identifying the parcel to bepicked up by the worker himself and it is possible to suppress a miss ofthe sorting work and to improve efficiency. However, the generation ofvarious arrows in the present embodiment is not necessary for anotherembodiment and it is also possible to project information of anotherpattern other than the arrow indicating the direction to pick up theparcel.

[Assignment of Detail Information]

FIG. 8 is a flowchart illustrating a detailed procedure of the operationperformed by processor 34 in steps S70 and S100 in FIG. 4. Generally,when worker M in FIG. 3 loads picked up parcel P into the truck, workerM temporally puts down the parcel in the vicinity of worker M such asfeet and loads parcel P considering a delivery order. For example, theworker generally loads the last parcel to be delivered into an innermostposition of the truck bed and loads the first parcel to be delivered ata position near an exit of the truck bed. In consideration of requiringproficiency in the loading or information on a delivery area, androtation of the worker in charge or the like, it is difficult tomaintain constant efficiency.

In the present embodiment, for particularly the parcel picked up fromtransport conveyor 50, further detail information is obtained and thedetail information is projected on the parcel. Since the worker caneasily recognize order of loading the parcel into the truck by seeingthe projection image including the detail information, the worker canefficiently load parcel P into the truck and it is possible to improveefficiency of the loading work.

Step S71 to step S74 in FIG. 8 correspond to step S70 in FIG. 4.Processor 34 continues step S60 of tracking the parcel and obtains thedistance image of the upper surface of the parcel (step S71). Here,distance image sensor 20 images the distance image by one frame for eachof predetermined times. Processor 34 receives the distance image by oneframe and extracts a difference between the distance image of theprevious frame and the distance image of the subsequent frame (stepS72). In the present embodiment, a difference between the parcel in thedistance image of the first frame and the parcel in the previous frameis extracted and it is determined whether or not the parcel is inuniform motion of straight line from the difference (step S73).

While transport conveyor 50 moves in the arrow X-direction in FIG. 3 andthe parcel is transported on transport conveyor 50, the parcel shouldalso move in uniform motion of straight line in the arrow X-direction.That is, since the parcel is imaged in a state in which the parcel is inuniform motion of straight line in the arrow X-direction, it is possibleto detect the parcel uniform motion of straight line of the parcel fromthe previous and subsequent frames.

In a case where it is determined that the difference indicates parcelthe uniform motion of straight line (Yes in step S73), processor 34generates the projection image (step S90).

On the other hand, in a case where it is determined that the differencedoes not indicate the uniform motion of straight line (No in step S73),processor 34 determines that the parcel is picked up from transportconveyor 50 by the worker (step S74). Certainly, after it is determinedthat the difference does not indicate the uniform motion of straightline, the distance image of the parcel may be tracked and the parcel maybe detected to be separated from transport conveyor 50, in order todetermine that the parcel is picked up by the worker.

Step S101 to step S102 in FIG. 8 correspond to step S100 in FIG. 4. Whenit is determined that the parcel is picked up (step S74). processor 34specifies a position of the upper surface of the parcel again (stepS101). Processor 34 reads the detail information, related to the parcel,recorded in memory 36 in advance (step S102). Although the detailinformation includes various information, here, the detail informationis useful information for loading the parcel by the worker. For example,it is the detail information of the delivery address such as a loweraddress level than a street name of the delivery address. Since the readdetail information is included in the projection image in step S90,convenience of sorting by the worker is improved. That is, the detailinformation is information including a location at which the parcel isto be disposed corresponding to the parcel identification information.

Particularly, the detail information may include information indicatingwhere the worker temporally places the parcel. For example, in a casewhere the worker places the parcel in the vicinity of the feet beforeplacing the parcel in the truck bed, the detail information may includeposition information of the location at which the parcel is placed inthe vicinity of the feet. In a case where the worker directly places theparcel in the truck bed, the detail information may include informationor the like of a specific position at which the parcel is placed in thetruck bed.

Although the detail information is read from the label of the parcel bylabel reader 10 and is recorded in memory 36, an obtaining method isparticularly not limited thereto. The detail information may be obtainedfrom another recording place via a network.

Further, in the present embodiment, by tracking the image of the parcel,it is determined whether or not the parcel is picked up, but a behavioranalysis technology can also be applied as another example. That is, byrecording operation patterns related to behaviors such as contact of theworker with the parcel, picking up of the parcel, taking away of theparcel, and the like in memory 36 or the like in advance, it is possibleto determine that the parcel is picked up in a case where processor 34detects the operation of the worker similar to the operation patterns.In addition, in a case where a part of the parcel is come out fromprocessing target space S illustrated in FIG. 5, it is also possible todetermine that the parcel is picked up.

Further, in the present embodiment, instruction projecting device 30projects the projection image by tracking the parcel come out fromprocessing target space S illustrated in FIG. 5, for example. Whenimplementing such an embodiment, as described above, basically, all ofthe coordinate points of the distance image are the processing targets.Because, since the processes in FIGS. 5 to 7, particularly, the processin step S24 of FIG. 6, are not performed, the operation in FIG. 6 is notperformed. For example, in a case of performing the processes in FIGS. 5to 7, particularly, the determination process in step S24 consideringthe processing load of processor 34, since the parcel picked up fromtransport conveyor 50 is basically excluded from the processing target,steps S100 to S102 are not executed. Surely, the non-execution does notdeny the idea of the processes of steps S100 to S102. By the processesof steps S100 to S102, it is possible to obtain an operational effect ofimproving efficiency of the loading work by the detail information,which is independent of the operational effect of FIGS. 5 to 7 and stepS24. On the other hand, in order to apply the embodiment in steps S100to S102, the operations in FIGS. 5 to 7 and step S24 are not performedin step S20 in principle, but this does not mean that the ideas in FIGS.5 to 7 and in step S24 are denied.

According to the present embodiment, it is possible for the worker torecognize more detailed attributes related to the parcel as well aswhether or not to pick up the parcel with reference to the detailinformation and it is possible to improve efficiency of the sorting ofthe parcel and the loading of the parcel. However, assignment of thedetail information such as the present embodiment is not necessary forimplementation of other embodiments.

Further, in the embodiment described above, distance image sensor 20obtains the distance image and instruction projecting device 30processes the distance image and generates the projection image.However, the image to be obtained is not necessarily limited to thedistance image, and depending on a type of the process, atwo-dimensional image not including the distance information may be theprocessing target. Therefore, distance image sensor 20 may be an imagesensor which obtains the two-dimensional image and instructionprojecting device 30 can process the two-dimensional image of the lightprocessing load.

[Summary of Embodiment]

As described above, instruction projecting device 30 of the presentembodiment generates the projection image to be projected on the parcelbased on an image including the parcel and parcel identificationinformation specifying the parcel in the image. Instruction projectingdevice 30 includes: processor 34; and memory 36, in which by cooperatingwith memory 36, processor 34 obtains the first time informationcorresponding to a time of obtaining the image, generates the projectionimage to be projected on the parcel, obtains the second time informationcorresponding to a time of generating the projection image, andcalculates the position on which the projection image is projected basedon the difference between the first time information and the second timeinformation.

Accordingly, instruction projecting device 30 can obtain the projectionposition of the parcel to which the projection image is to be correctlyprojected. As a result, projector 40 can more precisely project theprojection image on the parcel along the movement of the parcel and theprojection of the image is seen to be smooth even if eyes of the humansee the image.

Processor 34 may further calculate the position on which the projectionimage is projected based on the moving speed and the moving direction ofthe parcel. Accordingly, instruction projecting device 30 can preciselyobtain the projection position of the parcel to which the projectionimage is to be correctly projected.

The image may be the distance image including the distance informationin which each of the pixels indicates a distance from the imagingposition. Accordingly, instruction projecting device 30 can preciselyobtain the projection position of the parcel to which the projectionimage is to be correctly projected.

Parcel sorting system 100 of the present embodiment includes instructionprojecting device 30 described above, label reader 10 which read theparcel identification information from the label attached to the parcel,image sensor 20 which obtains the image, and projector 40 which projectsthe projection image on the parcel. Accordingly, it is possible to moreprecisely project the projection image on the parcel along the movementof the parcel and the projection of the image is seen to be smooth evenif eyes of the human see the image.

The instruction projecting method of the present embodiment is a methodof generating the projection image to be projected on the parcel basedon an image including the parcel and parcel identification informationspecifying the parcel in the image. By cooperating with memory 36,processor 34 obtains the first time information corresponding to a timeof obtaining the image, generates the projection image to be projectedon the parcel, obtains the second time information corresponding to atime of generating the projection image, and calculates the position onwhich the projection image is projected based on the difference betweenthe first time information and the second time information.

Accordingly, instruction projecting device 30 can obtain the projectionposition of the parcel to which the projection image is to be correctlyprojected. As a result, projector 40 can more precisely project theprojection image on the parcel along the movement of the parcel and theprojection of the image is seen to be smooth even if eyes of the humansee the image.

As described above, instruction projecting device 30 of the presentembodiment which generates the projection image to be projected on theparcel based on the image including the parcel and the parcelidentification information specifying the parcel in the image,instruction projecting device 30 including processor 34 and memory 36.By cooperating with memory 36, processor 34 determines whether or notthe parcel is picked up based on the parcel image in the image, and in acase where it is determined that the parcel is picked up, the processorgenerates the projection image including the detail information of theparcel.

Accordingly, it is possible for the worker to recognize more detailedattributes related to the parcel as well as whether or not to pick upthe parcel with reference to the detail information and it is possibleto improve efficiency of the sorting of the parcel and the loading ofthe parcel.

The detail information may be information including a location at whichthe parcel is to be disposed corresponding to the parcel identificationinformation. Accordingly, the worker can smoothly dispose the parcel atthe appropriate position and it is possible to improve the efficiency ofthe sorting of the parcel and the loading of the parcel.

The detail information may be information including the location atwhich the parcel is to be disposed in the vicinity of the worker whopicks up the parcel. Accordingly, the worker can smoothly dispose theparcel at the appropriate position and it is possible to improve theefficiency of the sorting of the parcel and the loading of the parcel.

The position may include information of the specific position in thetruck bed in which the parcel is loaded. Accordingly, the worker cansmoothly dispose the parcel at the appropriate position and it ispossible to improve the efficiency of the sorting of the parcel and theloading of the parcel.

The image may be the distance image including the distance informationin which each of the pixels indicates a distance from the imagingposition.

Accordingly, instruction projecting device 30 can precisely obtain theprojection position of the parcel to which the projection image is to becorrectly projected.

Parcel sorting system 100 of the present embodiment includes instructionprojecting device 30 described above, label reader 10 which reads theparcel identification information from the label attached to the parcel,image sensor 20 which obtains the image, and projector 40 which projectsthe projection image on the parcel. Accordingly, it is possible for theworker to recognize more detailed attributes related to the parcel aswell as whether or not to pick up the parcel with reference to thedetail information and it is possible to improve the efficiency of thesorting of the parcel and the loading of the parcel.

The instruction projecting method of the present embodiment is a methodof generating the projection image to be projected on the parcel basedon the image including the parcel and the parcel identificationinformation specifying the parcel in the image. By cooperating with thememory, the processor determines whether or not the parcel is picked upbased on the parcel image in the image, and in a case where it isdetermined that the parcel is packed tip, the processor generates theprojection image including the detail information of the parcel.

Accordingly, it is possible for the worker to recognize more detailedattributes related to the parcel as well as whether or not to pick upthe parcel with reference to the detail information and it is possibleto improve the efficiency of the sorting of the parcel and the loadingof the parcel.

As described above, instruction projecting device 30 of the presentembodiment which specifies the position of the parcel based on the imageincluding the parcel and the parcel identification informationspecifying the parcel in the image, instruction projecting device 30including processor 34 and memory 36. By cooperating with memory 36,processor 34 determines whether or not each of pixels in the image is apixel included in processing target space S in which the parcel is to bepresent based on coordinates of each of the pixels, regards only thepixel included in processing target space S as a processing point to beprocessed and registers the processing point in memory 36, and obtainsthe image of the parcel based on the registered processing point tospecify the position of the parcel.

Accordingly, processor 34 decreases the processing targets by limitingprocessing target space S to be processed and it is possible toeffectively and precisely sort the parcel as a result.

Processing target space S may be a space partitioned by a range from thetransport conveyor transporting the parcel in the image to apredetermined height. Accordingly, by further limiting processing targetspace S to be processed by processor 34, it is possible to furtherdecrease the processing targets.

Processing target space S may be a space partitioned by a range of apredetermined length of the transport conveyor in the image in thetransport direction. Accordingly, by further limiting processing targetspace S to be processed by processor 34, it is possible to furtherdecrease the processing targets.

Processing target space S may be a space partitioned by a range of apredetermined width of the transport conveyor in the image in thetransport direction. Accordingly, by further limiting processing targetspace S to be processed by processor 34, it is possible to furtherdecrease the processing targets.

As described above, it is preferable that processing target space S is aspace partitioned based on the transport conveyor in the image.

The image may be the distance image including the distance informationin which each of the pixels indicates a distance from the imagingposition. Accordingly, instruction projecting device 30 can preciselyobtain the projection position of the parcel to which the projectionimage is to be correctly projected.

Processor 34 generates the projection image to be projected on theparcel. Accordingly, it is possible to effectively and precisely sortthe parcel as a result.

Parcel sorting system 100 of the present embodiment includes instructionprojecting device 30 described above, label reader 10 which reads theparcel identification information from the label attached to the parcel,image sensor 20 which obtains the image, and projector 40 which projectsthe projection image on the parcel. Accordingly, processor 34 decreasesthe processing targets by limiting the processing target space to beprocessed and it is possible to effectively and precisely sort theparcel as a result.

The instruction projecting method of the present embodiment is theinstruction projecting device which specifies the position of the parcelbased on the image including the parcel and the parcel identificationinformation specifying the parcel in the image. By cooperating withmemory 36, processor 34 determines whether or not each of pixels in theimage is a pixel included in the processing target space in which theparcel is to be present based on coordinates of each of the pixels,regards only the pixel included in the processing target space as aprocessing point to be processed and registers the processing point inmemory 36, and obtains the image of the parcel based on the registeredprocessing point to specify the position of the parcel.

Accordingly, processor 34 decreases the processing targets by limitingthe processing target space to be processed and it is possible toeffectively and precisely sort the parcel as a result.

As described above, instruction projecting device 30 of the presentembodiment which generates the projection image to be projected on theparcel based on the image including the parcel and the parcelidentification information specifying the parcel in the image,instruction projecting device 30 including processor 34 and memory 36.By cooperating with memory 36, processor 34 specifies the parcel imagefrom the image including the parcel, extracts the specific surface ofthe parcel, and generates the projection image to be projected on thespecific surface.

Accordingly, by extracting the projected surface on which the projectionimage is to be projected, processor 34 does not need to perform theprocess, on the distance image displaying the whole parcel and theprocessing load is reduced.

In a case where the parcel has an approximately rectangularparallelepiped shape, the specific surface may be the upper surface ofthe parcel. Accordingly, the projection image becomes easy for theworker to see.

In a case where the parcel has an approximately rectangularparallelepiped shape, the specific surface may be one side surface ofthe parcel. Accordingly, the projection image becomes easy for theworker to see.

The image may be the distance image including the distance informationin which each of the pixels indicates a distance from the imagingposition. Accordingly, instruction projecting device 30 can preciselyobtain the projection position of the parcel to which the projectionimage is to be correctly projected.

Parcel sorting system 100 of the present embodiment includes instructionprojecting device 30 described above, label reader 10 which reads theparcel identification information from the label attached to the parcel,image sensor 20 which obtains the image, and projector 40 which projectsthe projection image on the parcel. Accordingly, by extracting theprojected surface on which the projection image is to be projected,processor 34 does not need to perform the process, on the distance imagedisplaying the whole parcel and the processing load is reduced.

The instruction projecting method of the present embodiment is a methodof generating the projection image to be projected on the parcel basedon the image including the parcel and the parcel identificationinformation specifying the parcel in the image. By cooperating withmemory 36, processor 34 extracts the parcel image from the imageincluding the parcel, specifies the specific surface of the parcel, andgenerates the projection image to be projected on the specific surfacebased on only the specific surface.

Accordingly, by extracting the projected surface on which the projectionimage is to be projected, processor 34 does not need to perform theprocess, on the distance image displaying the whole parcel and theprocessing load is reduced.

As described above, instruction projecting device 30 of the presentembodiment which generates the projection image to be projected on theparcel based on the image including the parcel and the parcelidentification information specifying the parcel in the image,instruction projecting device 30 including processor 34 and memory 36.By cooperating with memory 36, processor 34 determines the direction topick up the parcel based on the parcel identification information andgenerates the projection image including the arrow corresponding to thedirection to pick up the parcel.

Accordingly, it is possible to generate the projection image for theworker easily identifying the parcel to be picked up by the workerhimself and it is possible to suppress a miss of the sorting work and toimprove efficiency.

Corresponding to the direction to pick up the parcel, processor 34 mayselect a template image of an arrow prepared in advance and may generatethe projection image including the arrow. Accordingly, it is possible toeasily generate the arrow.

Corresponding to the direction to pick up the parcel, processor 34 mayrotate a rotatable arrow image prepared in advance and may generate theprojection image including the arrow. Accordingly, it is possible toeasily generate the arrow.

Processor 34 changes size of the arrow according to size of the surfaceon which the projection image is projected. Accordingly, it is possibleto generate the arrow having the appropriate size.

The image may be the distance information in which each of the pixelsindicates a distance from the imaging position. Accordingly, instructionprojecting device 30 can precisely obtain the projection position of theparcel to which the projection image is to be correctly projected.

Parcel sorting system 100 of the present embodiment includes instructionprojecting device 30 described above, label reader 10 which reads theparcel identification information from the label attached to the parcel,image sensor 20 which obtains the image, and projector 40 which projectsthe projection image on the parcel. Accordingly, it is possible togenerate the projection image for the worker easily identifying theparcel to be picked up by the worker himself and it is possible tosuppress a miss of the sorting work and to improve the efficiency.

The instruction projecting method of the present embodiment is a methodof generating the projection image to be projected on the parcel basedon the image including the parcel and the parcel identificationinformation specifying the parcel in the image. By cooperating withmemory 36, processor 34 determines the direction to pick up the parcelbased on the parcel identification information and generates theprojection image including the arrow corresponding to the direction topick up the parcel.

Accordingly, by extracting the projected surface on which the projectionimage is to be projected, processor 34 does not need to perform theprocess, on the distance image displaying the whole parcel and theprocessing load is reduced.

As described above, instruction projecting device 30 of the presentembodiment which generates the projection image to be projected on theparcel based on the image including the parcel and the parcelidentification information specifying the parcel in the image,instruction projecting device 30 including processor 34 and memory 36.By cooperating with memory 35, processor 34 determines the specific areain which the parcel is picked up in a specific direction based on theparcel identification information and generates projection conditioninformation on which the projection image is projected in only a casewhere the parcel exists in the specific area.

Accordingly, by performing the projection on only the parcel which eachof the workers has to pick up, it becomes easy for the worker himself tospecify the parcel to be picked up. In addition, it is possible tominimize the number of the patterns of the projection image.

The specific area may be an area partitioned by a specific length of thetransport conveyor in the transport direction. Accordingly, byperforming the projection on only the parcel which each of the workershas to pick up, it becomes easy for the worker himself to specify theparcel to be picked up.

The image may be the distance image including the distance informationin which each of the pixels indicates a distance from the imagingposition. Accordingly, instruction projecting device 30 can preciselyobtain the projection position of the parcel to which the projectionimage is to be correctly projected.

Parcel sorting system 100 of the present embodiment includes instructionprojecting device 30 described above, label reader 10 which read theparcel identification information from the label attached to the parcel,image sensor 20 which obtains the image, and projector 40 which projectsthe projection image on the parcel. Accordingly, by performing theprojection on only the parcel which each of the workers has to pick up,it becomes easy for the worker himself to specify the parcel to bepicked up.

The instruction projecting method of the present embodiment is a methodof generating the projection image to be projected on the parcel basedon the image including the parcel and the parcel identificationinformation specifying the parcel in the image. By cooperating withmemory 36, processor 34 determines the specific area in which the parcelis picked up in a specific direction based on the parcel identificationinformation and generates projection condition information on which theprojection image is projected in only a case where the parcel exists inthe specific area.

Accordingly, by performing the projection on only the parcel which eachof the workers has to pick up, it becomes easy for the worker himself tospecify the parcel to be picked up. In addition, it is possible tominimize the number of the patterns of the projection image.

Although the embodiment of the parcel sorting system according to thepresent disclosure is described with reference to the drawings, thepresent disclosure is not limited to such an example. Those skilled inthe art can conceive various modification examples, change examples,substitution examples, addition examples, deletion examples, andequivalent examples within the scope described in the claims and theserightly belong to the technical scope of the present disclosure.

INDUSTRIAL APPLICABILITY

The present disclosure is related to an instruction projecting device, aparcel sorting system, and an instruction projecting method useful forparcel sorting capable of more effectively and precisely sorting aparcel.

REFERENCE MARKS IN THE DRAWINGS

10 LABEL READER

20 DISTANCE IMAGE SENSOR (IMAGE SENSOR)

30 INSTRUCTION PROJECTING DEVICE

32 INPUT UNIT

34 PROCESSOR

36 MEMORY

38 OUTPUT UNIT

40 PROJECTOR

50 TRANSPORT CONVEYOR

60 IMAGING PROJECTION DEVICE

100 PARCEL SORTING SYSTEM

P PARCEL

1. A projection indicator which specifies a position of a parcel basedon an image including the parcel, the indicator comprising: a processor;and a memory, wherein by cooperating with the memory, the processordetermines whether or not each of pixels in the image is a pixelincluded in a processing target space in which the parcel is to bepresent based on coordinates of each of the pixels, regards only thepixel included in the processing target space as a processing point tobe processed and registers the processing point in the memory, andobtains the image of the parcel based on the registered processing pointto specify the position of the parcel.
 2. The projection indicator ofclaim 1, wherein the processing target space is a space partitioned by arange from a transport conveyor transporting the parcel to apredetermined height.
 3. The projection indicator of claim 2, whereinthe processing target space is a space partitioned by a range of a widthof the transport conveyor.
 4. The projection indicator of claim 2,wherein the processing target space is a space partitioned by a range ofa predetermined length of the transport conveyor in a transportdirection.
 5. The projection indicator of claim 1, wherein the image isa distance image including distance information in which each of pixelsindicates a distance from an imaging position.
 6. The projectionindicator of claim 1, wherein the processor generates a projection imageto be projected on the parcel.
 7. A cargo assortment system comprising:the projection indicator of claim 6; a label reader which reads parcelidentification information from a label attached to a parcel; an imagesensor which obtains an image; and an image output device which projectsa projection image on the parcel.
 8. A projection indicating method ofspecifying a position of a parcel based on an image including theparcel, the method comprising: by causing a processor to cooperate witha memory, determining whether or not each of pixels in the image is apixel included in a processing target space in which the parcel is to bepresent based on coordinates of each of the pixels; regarding only thepixel included in the processing target space as a processing point tobe processed and registering the processing point in the memory; andobtaining the image of the parcel based on the registered processingpoint to specify the position of the parcel.